A U.N. worker whose family was falsely notified she had died in the terrorist attack at the mission’s headquarters in Iraq has been reunited with her family in Queens.

Marilyn Manuel, 54, arrived home Friday night after convalescing in a Jordan hospital.

“It was joy, just happiness and pure joy,” Manuel’s daughter, Vanessa, 29, said in describing her mother’s arrival.

“Words can’t describe it. We all wanted to hug her hard, but we didn’t want to hurt her. So I kissed her knee.”

Manuel survived the Aug. 19 truck bombing that killed 23 people and injured more than 100.

Manuel’s family was told by the United Nations she had been killed in the attack. They held a private memorial service amid their grief.

Two days after the attack, Manuel called home to tell her family she was OK. Upon hearing the news, Marilyn’s husband, Benjamin, joyously said his wife had been “resurrected” and called the event “a miracle.”

Eric Manuel, 25, and Benjamin traveled to Jordan to bring Marilyn home. They spent about a week by her side in the Mideast country.

“You couldn’t hug her or hold her,” Eric said, recalling the first time he saw his mother in the Jordanian hospital. “I was worried about her mental and physical condition. [But] she was in good spirits in Amman.

“The doctors took good care of her, and the U.N. took good care of her.”

Eric said his tired mother exclaimed, “Son!” when she saw him. He then gave her a hug and a kiss.

Marilyn told her children she’s grateful to the United Nations and the Philippine Embassy in Jordan for their help in bringing her home safely. She also told them the American doctors in Iraq took excellent care of her.

“She told us it was a terrible ordeal and she can’t believe she got out of it alive,” Vanessa said. “She’s very happy to be home, but she’s dealing with the loss of her close friends and colleagues.”

Marilyn spent the weekend at home in Woodhaven with her family. She suffered injuries to her face and eye and said she wasn’t ready to talk to the media.

“We extend our deepest gratitude to the people who have supported us and showed concern for us,” Vanessa said. “We also want to extend out deepest sympathy to the families affected.”

Vanessa said this was supposed to be her mother’s final trip abroad, but she believes strongly in the U.N. mission and will go back to work as soon as she is ready.